I would interpret it as the same in both cases. Your least-stealthy team member is the gating factor. If that's the dude with AGL D and no Recon, well... better hope you brought overwhelming force in lieu of overwhelming surprise.
(Also, I would consider waylaying a subset or special case of ambushing for rules purposes because the "Waylaying" header is a third-level header under the second-level "Ambush" header - i.e., subordinate in layout/design terms.)
- C.
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